EP1790440A1 - Mécanisme à cinématique parallèle, méthode de calibration et machine-outil utilisant un tel mécanisme - Google Patents

Mécanisme à cinématique parallèle, méthode de calibration et machine-outil utilisant un tel mécanisme Download PDF

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Publication number
EP1790440A1
EP1790440A1 EP06124739A EP06124739A EP1790440A1 EP 1790440 A1 EP1790440 A1 EP 1790440A1 EP 06124739 A EP06124739 A EP 06124739A EP 06124739 A EP06124739 A EP 06124739A EP 1790440 A1 EP1790440 A1 EP 1790440A1
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EP
European Patent Office
Prior art keywords
axis
link
link head
parallel
links
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06124739A
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German (de)
English (en)
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EP1790440B1 (fr
Inventor
Hiromichi JTEKT CORPORATION Ota
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JTEKT Corp
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JTEKT Corp
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Filing date
Publication date
Priority claimed from JP2005339462A external-priority patent/JP4882352B2/ja
Priority claimed from JP2005340666A external-priority patent/JP4626499B2/ja
Application filed by JTEKT Corp filed Critical JTEKT Corp
Publication of EP1790440A1 publication Critical patent/EP1790440A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/306664—Milling including means to infeed rotary cutter toward work
    • Y10T409/306776—Axially
    • Y10T409/307056—Axially and laterally
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/306664—Milling including means to infeed rotary cutter toward work
    • Y10T409/307672—Angularly adjustable cutter head
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/309576—Machine frame
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20341—Power elements as controlling elements

Definitions

  • the invention relates to a parallel mechanism which, for example, is used as a driving force-transmitting mechanism when a tool (processing tool) for processing a work piece (work) is displaced, a calibration method for use in the same, and a machine tool including the same.
  • a grinding machine, a turning machine, a milling machine and the like are well known as machine tools, and the various kinds of machine tools are selectively used in accordance with required processing contents.
  • a spindle head for supporting a tool such as a grinding wheel or a cutting tool, a table for supporting a work, and the like are moved to desired positions, or are pivoted at desired angles, respectively, to relatively displace the work and the tool, thereby performing processing such as grinding or cutting.
  • a parallel mechanism 150 includes a link head 152 which is movably and pivotably disposed in a bed (not shown) as a base in the machine tool through a slide stand 151, and four operation rods 153 to 156 which are interposed between the link head 152 and a bed (rails) so as to be drivable by actuators (not shown).
  • the link head 152 is held by one side end portions (side end portions opposite to respective rails) of the operation rods 153 to 156, and thus can be moved and pivoted, together with the slide stand 151, on the bed by driving the operation rods 153 to 156.
  • a processing tool 170 such as a grinding wheel is rotatably held by the link head 152.
  • the operation rods 153 and 154 have link insertion portions 153A and 154A, respectively, one side end portions thereof are pivotably coupled to each other on the link head 152 through a common pivot support 157, and the other side end portions thereof are pivotably coupled to sliders 159 and 160 on a rail 158 through pivot supports 161 and 162, respectively.
  • the operation rods 155 and 156 are inserted through the link insertion portions 153A and 154A so as to cross the operation rods 153 and 154, respectively. Also, one side ends of the operation rods 155 and 156 are pivotably coupled to each other on the link head 152 through a common pivot support 163, and the other side end portions thereof are pivotably coupled to sliders 165 and 166 on a rail 164 disposed in parallel to the rail 158 through pivot supports 167 and 168, respectively.
  • the pivot support 157 is disposed in a position which lies on the link head 152 and is close to the grinding wheel side, and the pivot support 163 is disposed in a position, on the link head 152, which lies on the inverse grinding wheel side and which is at distance away from the pivot support 157 by a predetermined size.
  • a machine tool 11 includes a parallel mechanism 12 which is suspended from a ceiling 50 through a supporting column 51, and a table 13 which is located below the parallel mechanism 12.
  • a processing tool (not shown) and a measuring instrument 40 are selectively mounted to a link head of the parallel mechanism 12.
  • a work (not shown) and a measurement jig 60 are similarly and selectively installed in a table 13.
  • a machine tool as shown in FIG.18 has also been known as conventional one.
  • This machine tool for example, is disclosed in JP-A-2002-263973 .
  • an angle sensor 40V with which a rotation angle of a rotation joint 16b can be measured is mounted to the rotation joint 16b constituting a part of a parallel mechanism.
  • command values corresponding to information or the like, on a tip position of a tool, which is given in accordance with a rectangular coordinate system are converted (inversely converted) into output values of actuators, and thus the driving of the actuators is controlled.
  • mechanism parameters such as an inclined angle and a length of each of constituent components or parts are used in the conversion from the command values into the output values.
  • These mechanism parameters do not necessarily agree with design values due to occurrence of a manufacturing error and an assembly error in each of the constituent components or parts.
  • these mechanism parameters are changed due to displacement resulting from thermal expansion, contraction or the like of the parallel mechanism caused by a change in temperature of an operating situation or an ambient atmosphere of the machine tool.
  • the measuring instrument 40 and the measurement jig 60 are mounted to the machine tool 11 after the tools are detached from the machine tool 11 in the phase of carrying out the calibration, which results in that it takes much work time to carry out the calibration.
  • the mechanism parameters are corrected by detecting the small angle error of the rotation joint 16b by using the angle sensor 40V, which results in that the precision of detection of the angle error is poor, and thus the satisfactory identification precision cannot be obtained for the mechanism parameters.
  • the damage or the like of the constituent components or parts can be prevented from being generated, the desired movement and pivotal movement operation can be obtained as the movement and pivotal movement operation of the link head, and the overall parallel mechanism can be miniaturized.
  • the work time that it takes to carry out the calibration can be shortened, and the satisfactory identification precision for the mechanism parameters can be obtained.
  • FIG.1 is a plan view explaining an overall machine tool according to a first embodiment of the invention.
  • FIG.2 is a perspective view explaining main portions of the machine tool according to the first embodiment of the invention. Also,
  • FIG.3 is a block diagram explaining a controller of the machine tool according to the first embodiment of the invention.
  • a z-axis (second axis) direction (a main spindle direction in FIG.1)
  • an x-axis (third axis) direction (a direction parallel to a paper and intersecting perpendicularly the z-axis in FIG.1)
  • a y-axis (first axis) direction (a direction vertical to the paper and intersecting perpendicularly the z-axis).
  • a machine tool 1 for example, is a cylindrical grinding machine, and is roughly constituted by a machine tool main body, a controller 3, and attachments (not shown).
  • the machine tool main body includes a work supporting and driving unit 100 for supporting a work W in a rotation-drivable manner, a tool spindle unit 200 in which a processing tool 501 such as a grinding wheel is detachably attached, and a parallel mechanism 300 for holding a link head 301 on a tool installation side.
  • the work supporting and driving unit 100 has a headstock base 101, and left-and right-hand side two headstocks 103, and is placed in a front end portion (on a lower side in FIG.1 ) on a bed 10.
  • Left-and right-hand side two headstock slide guides 102 which are arranged in parallel at a predetermined space in a horizontal (z-axis) direction and which extend in the z-axis direction are disposed in a back face portion (on an upper side in FIG.1) of the headstock base 101.
  • the left-and right-hand side two headstocks 103 are disposed movably along the z-axis direction on the corresponding headstock slide guides 102, respectively.
  • the left-and right-hand side two headstocks 103 are positioned in predetermined positions on the corresponding headstock slide guides 102, respectively, and hold the work W between their central portions.
  • Main spindle-driving motors 104 for rotation-driving the main spindles 105 at a predetermined rotational frequency, respectively, are installed in the left-and right-hand side two headstocks 103, respectively.
  • the tool spindle unit 200 has a tool spindle 201 which can hold a portion to be held of the processing tool 501, and a tool spindle-driving motor (not shown) for rotation-driving the tool spindle 201, and is installed in the link head 301. Also, the tool spindle unit 200 transmits a rotation driving force of the tool spindle-driving motor to the tool spindle 201, and rotation-drives the processing tool 501 on the tool spindle 201 at a predetermined rotational frequency.
  • the parallel mechanism 300 includes link mechanisms having multiple degrees of freedom (three degrees of freedom, that is, straight line two axes and a rotation one axis) and having a pair of link groups (link mechanisms) 350 and 351.
  • the parallel mechanism 300 is disposed in the rear of the work supporting and driving unit 100 and is held in a cantilever style by a riser member (not shown) of the bed 10 through slider guiding rails (guide rails) 360 and 363 which extend in the z-axis direction. Also, as described above, the parallel mechanism 300 holds the link head 301 on the tool mounting side.
  • the slider guiding rails 360 and 363 extend in the z-axis direction, and are disposed in respective positions where they are arranged in parallel at a mutually predetermined space in the y-axis direction.
  • the link head 301 is held by link head side end portions of the link groups 350 and 351. Also, the link head 301 can be pivoted about the y-axis on the same virtual plane (movement and pivotal movement virtual plane) intersecting perpendicularly the y-axis with respect to the bed 10 and can be moved in the two directions, that is, in the x-axis direction and the z-axis direction with respect to the bed 10.
  • the link head 301 can be pivoted about the y-axis on the same virtual plane (movement and pivotal movement virtual plane) intersecting perpendicularly the y-axis with respect to the bed 10 and can be moved in the two directions, that is, in the x-axis direction and the z-axis direction with respect to the bed 10.
  • a joint guiding rail 352 which is disposed in parallel to a rotation axis T of the processing tool 501, and a linear joint (displacement mechanism) 353 with a portion to be detected which can be moved in a direction indicated by an arrow (that is, one axis direction intersecting perpendicularly the y-axis) on the joint guiding rail 352 are disposed on an upper surface portion of the link head 301.
  • a position sensor 380 (See FIG.3 ), such as a linear scale, for detecting a portion (slits) 353A to be detected of the linear joint 353 to detect an error of a distance L between both the rotation joints 354 and 355 is disposed on an upper surface portion of the link head 301.
  • a pair of link groups 350 and 351 is disposed between the bed (or riser member) 10 and the link head 301, and is held in a position where a movement and pivotal movement virtual plane of the link head 301 is set as a horizontal plane. Also, the link head 301 is moved in the x-axis and z-axis directions on the same movement and pivotal movement plane and also is pivoted about the y-axis by driving actuators 356 and 359 (See FIG.3 ), thereby changing its position and posture.
  • a driving mechanism including feed screws (not shown) for moving the sliders, respectively, which will be described later, and servo motors for driving these feed screws, respectively, is used as each of the actuators 356 to 359.
  • Motor rotation- detecting encoders 31 to 34 are mounted to the actuators 356 to 359, respectively. Note that, a driving mechanism such as a linear motor may be used as each of the actuators 356 to 359.
  • One link group (second link mechanism) 350 has two links 350A and 350B each of which can be pivoted on a virtual plane parallel to the movement and pivotal movement virtual plane of the link head 301, and is disposed below the link head 301.
  • Link lengths of the links 350A and 350B are set as the same size.
  • One link end portion of the link 350A is movably and pivotably linked to the slider guiding rail 360 on the bed 10 through the slider 361 and the rotation joint 381, and the other link end portion thereof is pivotably linked to the rotation joint 354. Also, the link 350A can be moved on the slider guiding rail 360 by the actuator 356.
  • the rotation joint 381 functions as a joint which has one degree of freedom and which is rotated around the axis parallel to the y-axis.
  • One link end portion of the link 350B is movably and pivotably linked to the slider guiding rail 360 on the bed 10 through the slider 362 and the rotation joint 382, and the other link end portion thereof is pivotably linked to the rotation joint 354.
  • the link 350B can be moved on the rail 360 by the actuator 357 so as to come close to or so as to be separated from the link 350A (the rotation joint 381).
  • the rotation joint 382 functions as a joint which has one degree of freedom and which is rotated around the axis parallel to the y-axis.
  • the other link group (first link mechanism) 351 has two links 351A and 351B which can be pivoted on a virtual plane parallel to a movement and pivotal movement virtual plane (a virtual plane parallel to a virtual plane having the link group 351 disposed thereon) of the head link 301. Also, the link group 351 is disposed above the link head 301 and in parallel to the link group 350. Link lengths of the links 351A and 351B are set as the same size as that of each of the links 350A and 350B.
  • One link end portion of the link 351A is movably and pivotably linked to the slider guiding rail 363 disposed above the bed 10 in a position parallel to the slider guiding rail 360 through the slider 364 and the rotation joint 383.
  • the other link end portion of the link 351A is movably and pivotably linked to the link head 301 through the linear joint 353 and the rotation joint 355.
  • the link 351A can be moved on the slider guiding rail 363 by the actuator 358 and can also be moved on the joint guiding rail 352 through the linear joint 353 and the rotation joint 355 by the actuator 358.
  • the rotation joint 383 functions as a joint which has one degree of freedom and which is rotated around the axis parallel to the y-axis.
  • One link end portion of the link 351B is movably and pivotably linked to the slider guiding rail 363 through the slider 365 and the rotation joint 384.
  • the other link end portion of the link 351B is movably and pivotably linked to the link head 301 through the linear joint 353 and the rotation joint 355.
  • the link 351B can be moved on the slider guiding rail 363 by the actuator 359, and can also come close to or be separated from the link 351A (the rotation joint 383 ) by the actuator 359.
  • the link 351B can be moved on the joint guiding rail 352 through the linear joint 353 and the rotation joint 355 by the actuator 359.
  • the rotation joint 384 functions as a joint which has one degree of freedom and which is rotated around the axis parallel to the y-axis.
  • the controller 3 includes a central processing unit (CPU) 71, a memory 72, and interfaces (I/Fs) 73 to 75.
  • the controller 3 converts command values U corresponding to information, on a movement position of the link head 301, which is given in accordance with the rectangular coordinate system into output values of the actuators 356 to 359 in accordance with mechanism parameters P, thereby driving-controlling the actuators 356 to 359.
  • the CPU 71 reads out a processing program stored in either the memory 72 or an external storage unit 78, analyzes the processing program thus read out, converts information, on the movement position and posture of the link head 301, which is given in accordance with the rectangular coordinate system into driving command values for the actuators 356 to 359, respectively, in accordance with the mechanism parameters P, and outputs the resulting driving command values to a servo motor unit 80.
  • the various kinds of pieces of information such as the processing program in accordance with which the processing tool 501 carries out the actual processing, and the mechanism parameters P are stored in the memory 72.
  • the servo motor unit 80 (DUU1 81 to DUU4 84) for driving the actuators (servo motors) 356 to 359, respectively, is connected to the interface 73.
  • the servo motor units 81 to 84 drive the actuators 356 to 359, respectively, in accordance with the command values issued from the CPU 71, and carry out feedback control in accordance with output values from motor rotation-detecting encoders 31 to 34 of the actuators 356 to 359.
  • a keyboard (KB) 76 for inputting therethrough the processing data or the like, an image display device (CRT) 77 for displaying thereon the processing data, information on a state of the machine tool 1, or the like, and the external storage unit 78 for storing therein the processing data are connected to the interface 74.
  • a position sensor 380 is connected to the interface 75.
  • the attachments include an oil supplying apparatus, a cooling system, an air supplying apparatus, and a coolant supplying apparatus, and a duct apparatus or the like through which these apparatuses and system are connected to the machine tool main body.
  • FIG.4 is a plan view explaining an x-axis parallel operation of the link head in the machine tool according to the first embodiment of the invention.
  • FIG.5 is a plan view explaining a pivotal movement operation of the link head in the machine tool according to the first embodiment of the invention.
  • FIG.6 is a plan view explaining an x-z-axes parallel operation of the link head in the machine tool according to the first embodiment of the invention. Also,
  • FIG.7 is a plan view explaining an x-z-axes parallel and pivotal movement operation of the link head in the machine tool according to the first embodiment of the invention. Note that, illustration of the linear joint 353 is omitted in each of FIGS.4 to 7.
  • the link head 301 is pivoted about the y-axis in a counterclockwise direction to be disposed in a position indicated by a solid line in FIG.5, so that the rotation axis T of the processing tool 501, for example, makes a right angle with the reference line o.
  • the link head 301 is moved along the x-axis and z-axis, and also is pivoted about the y-axis, which results in that the position and posture of the link head 301 can be controlled and the work W held between the left-and right-hand side two headstocks 103 can be processed.
  • the positions of the rotation joints 354 and 355 disposed on the lower and upper surfaces of the link head 301 are determined, respectively, when the sliders 361, 362, 364 and 365 are positioned, the movement and pivotal movement position of the link head 301 (the tip position of the processing tool 501) is determined.
  • the positions of the sliders 361 and 362, and the sliders 364 and 365 are arithmetically operated in accordance with a specific operation expression (inverse conversion expression) from the movement and pivotal movement positions, and the sliders 361 and 362, and the sliders 364 and 365 are moved to the positions corresponding to the resulting arithmetic operation values, respectively.
  • the link head 301 can perform the x-axis parallel operation, the z-axis parallel operation, and the operation of the pivotal movement about the y-axis. That is to say, the link head 301 can operate with the three degrees of freedom.
  • the parallel mechanism includes three driving mechanisms (actuators) for driving the three links 350A, 350B and 350C, respectively.
  • the parallel mechanism 300 of the first embodiment includes the four driving mechanisms (the actuators 356 to 359) for driving the four links 350A and 350B , and 351A and 351B, respectively.
  • the redundant driving mechanism prevents the linear joint 353 from being directly displaced by the actuators 356 to 359.
  • the mechanism parameters P do not exactly follow the theoretical values, but contain therein the errors due to the manufacturing errors or the assembly errors of the constituent components or parts constituting the parallel mechanism 300, or the long term change resulting from the use environment such as the temperature change or the long term use. Hence, the linear joint 353 is displaced to absorb these errors.
  • the parallel mechanism 300 includes the redundant driving mechanism.
  • the reason for this is because there is no singularity as the problem of the parallel mechanism.
  • FIG.8A having no redundant degree of freedom, there is a so-called over singularity at which when a U 3 -axis is intended to pivot the link head 301 thereabout with a U 1 -axis and a U 2 -axis being fixed, the U 3 -axis cannot be moved in a state in which the link 351A is arranged on a line segment linking between the two rotation joints 354 and 355.
  • the parallel mechanism 300 has the redundant driving axis (the U 4 -axis in this state).
  • FIG.10 is a perspective view explaining a parallel mechanism according to a second embodiment of the invention.
  • the same or equal members are designated by the same reference numerals as used in FIG.2 and a detailed description thereof is omitted below for simplicity.
  • a parallel mechanism 21 has the feature that link groups 350 and 351 are disposed in positions, respectively, where the movement and pivotal movement virtual plane of a link head 301 is set as a horizontal plane, and gravity (y-axis) direction sizes of the links 350A and 350B, and the links 351A and 351B are set as wide sizes, respectively, (the links 350A and 350B, and the links 351A and 351B are plate-shaped members each having a thickness in the y-axis direction).
  • slider guiding rails 360 and 363 are disposed in parallel to each other in the gravity direction, and are constructed so as to guide sliders 361 and 362, and sliders 354 and 365, respectively, in a horizontal direction.
  • Head link side end portions of the links 351A and 351B are pivotably linked to a rotation joint 354 so as to hold the link head 301 between them.
  • rail side end portions of the links 351A and 351B are movably and pivotably linked to the slider guiding rail 363 through the sliders 364 and 365, and the rotation joints 383 and 384.
  • head link side end portions of the links 350A and 350B are movably and pivotably linked to the link head 301 through a linear joint 353 and a rotation joint 355.
  • rail side end portions of the links 351A and 351B are movably and pivotably linked to the slider guiding rail 360 through the sliders 361 and 362, and the rotation joints 381 and 382 (only the rotation joint 381 is illustrated in FIG.10 ).
  • the gravity (y-axis) direction sizes of the links 350A and 350B , and the links 351A and 351B are set as the wide sizes, respectively, it is possible to suppress the deflection of the links 350A and 350B , and the links 351A and 351B in the gravity direction, and it also is possible to reduce the positioning error or the like due to the deflection of the links 350A and 350B, and the links 351A and 351B.
  • the links 350A and 350B, and the links 351A and 351B are the plate-shaped members each having the thickness in the y-axis direction
  • the invention is not intended to be limited thereto, and thus the links 350A and 350B , and the links 351A and 351B may also be adopted as long as at least one of them is the plate-shaped member having the thickness in the y-axis direction.
  • FIG.11 is a perspective view explaining a parallel mechanism according to a third embodiment of the invention.
  • the same or equal members are designated by the same reference numerals as used in FIG.2 and a detailed description thereof is omitted below for simplicity.
  • a parallel mechanism 31 has the feature that link groups 350 and 351 are disposed in positions, respectively, where the movement and pivotal movement virtual plane of a link head 301 is set as a vertical plane (with the y-axis as a horizontal line).
  • slider guiding rails 360 and 363 are disposed in parallel to each other in the horizontal (x-axis) direction, and are constructed so as to guide sliders 361 and 362, and sliders 364 and 365 (the slider 362 is not illustrated in FIG.11) in the horizontal direction.
  • Head link side end portions of the links 351A and 351B are linked to a rotation joint 354 so as to hold the link head 301 between them.
  • rail side end portions of the links 351A and 351B are movably and pivotably linked to the slider guiding rail 363 through the sliders 364 and 365, and rotation joints 383 and 384.
  • head link side end portions of the links 350A and 350B are movably and pivotably linked to the link head 301 through a linear joint 353 and a rotation joint 355.
  • rail side end portions of the links 351A and 351B are movably and pivotably linked to the slider guiding rail 360 through the sliders 361 and 362, and rotation joints 381 and 382 (only the rotation joint 381 is illustrated in FIG. 10 ).
  • An x-axis slide table 311 which can be moved in the x-axis direction, and a C-axis rotation table 312 which can be rotated around the z-axis are disposed below the parallel mechanism 31.
  • a five-axes machine tool (a processing tool: an end mill) having an angle movable range about an A-axis and a C-axis can be constructed while the high speed property of the parallel mechanism 31 is utilized.
  • a B-axis rotation table which is rotated around the y-axis may be used instead of the C-axis rotation tool 312, and such a construction that causes the overall parallel mechanism 31 to directly act in the x-axis direction may be used instead of adopting the construction of the x-axis slide table 311.
  • FIG.12 is a perspective view explaining a parallel mechanism according to a fourth embodiment of the invention.
  • the same or equal members are designated by the same reference numerals as used in FIG.2 and a detailed description thereof is omitted below for simplicity.
  • a parallel mechanism 41 has the feature that links 350A and 350B of a link group 350, and links 351A and 351B of a link group 351 can expand and contract in a longitudinal direction of each link.
  • actuators 356 to 359 are constituted by expansion actuators which cause effective lengths of links 350A and 350B, and links 351A and 351B to expand and contract, and are mounted to a riser member 10A on the bed 10 (refer to FIG. 1) through rotation joints 411 to 414, respectively.
  • FIG.13 is a perspective view explaining a parallel mechanism according to a fifth embodiment of the invention.
  • the same or equal members are designated by the same reference numerals as used in FIG.2 and a detailed description thereof is omitted below for simplicity.
  • a parallel mechanism 51 has the feature that each of links 350A and 350B, and links 351A and 351B of the link groups 350 and 351 is constituted by a pair of link elements a and b, and the pairs of link elements a and b of the links 350A and 350B are pivotably linked to each other through rotation joints 511 and 512, and the pairs of link elements a and b of the links 351A and 351B are pivotably linked to each other through rotation joints 513 and 514.
  • actuators 356 and 357, and actuators 358 and 359 are constituted by motors for pivoting the link elements a of the links 350A and 350B , and motors for pivoting the link elements a of the links 351A and 351B , respectively, and are mounted to a riser member 10A on the bed 10 (See FIG.1 ).
  • FIG.14 is a perspective view explaining a parallel mechanism according to a sixth embodiment of the invention.
  • the same or equal members are designated by the same reference numerals as used in FIG.2, and a detailed description thereof is omitted below for simplicity.
  • a parallel mechanism 61 has the feature that links 350A and 350B , and links 351A and 351B are disposed between a link head 301, and the actuators 356 and 357 (See FIG.3), and between the link head 301 and the actuators 358 and 359 (See FIG.3), respectively, through joints each having one degree of freedom, two degrees of freedom, or three degrees of freedom.
  • joints 354 and 384 as joints each of which has one degree of freedom and each of which is rotated around an axis parallel to the y-axis are mounted to both end portions of a link 351B , respectively.
  • joints 390A, 390B and 391A each of which has two degrees of freedom and each of which is typified by a universal joint are mounted to one ends (rail side end portions) of links 350A, 350B and 351A, respectively.
  • joints 395 and 396 each of which has three degrees of freedom and each of which is typified by a spherical joint are mounted to the other ends (link head side end portions) of the links 350A ( 350B ) and 351A, respectively.
  • the same effects as those (1) to (3) of the first embodiment of the invention are obtained.
  • the above-mentioned sixth embodiment of the invention is effective when an influence of the errors is exerted on the y-axis direction (the rotation around the x-axis, and the rotation around the z-axis).
  • these joints may also be disposed between the both ends of two or three links of the links 350A and 350B, and the links 351A and 351B.
  • the joint which has one degree of freedom and which can be pivoted about the axis parallel to the y-axis must be disposed between the both ends of at least one of the links 350A and 350B, and the links 351A and 351B.
  • any one of at least the joint having two degrees of freedom and the joint having three degrees of freedom each of which can be pivoted about the axis parallel to the y-axis can be suitably selected and disposed between the both ends of the link other than at least one link including the joint having one degree of freedom.
  • FIG.9 is a plan view explaining a calibration method for use in the machine tool according to the first embodiment of the invention.
  • FIG.15 is a flow chart explaining the calibration method for use in the machine tool (parallel mechanism) according to the first embodiment of the invention.
  • the controller 3 of the machine tool 1 converts the command values (X, Z, B) corresponding to the information, on the movement position of the link head 301, given in accordance with the rectangular coordinate system into the output values of the actuators 356 to 359 in accordance with the mechanism parameters P (the slide origin positions; SLO 1 x , SLO 1 z , SLO 2 x , SLO 2 z , SLO 3 x , SLO 3 z , SLO 4 x , SLO 4 z , the slide angles: SLA 1 , SLA 2 , SLA 3 , SLA 4 , and the link lengths: RL 1 , RL 2 , RL 3 , RL 4 ) to obtain the actuator coordinates U(U 1 , U 2 , U 3 , U 4 ), thereby driving and controlling the actuators 356 to 359.
  • the calibration for the mechanism parameters P is carried out at predetermined intervals or at arbitrary timing through a procedure which will be
  • the position sensor 310 measures the displacement of the linear joint 353 having the function of absorbing the errors of the mechanism parameters P, that is, an error dL of a distance L between both the rotation joints 354 and 355, and the errors of the mechanism parameters P are obtained using the error dL, thereby carrying out the calibration in this embodiment.
  • Step S 1 in FIG.15 the actuators 356 to 359 are driven to position the link head 301 in an arbitrary position.
  • Step S 2 in FIG.15 the output values from the position sensor 380 are measured in the state of positioning the link head 301 to obtain the error dL of the distance L between both the rotation joints 354 and 355.
  • This processing is repeatedly executed k times to position the link head 301 in k different positions, thereby obtaining the k errors dL (Step S 3 in FIG. 15).
  • 16 is the number, k, of times of repetition which is required at minimum because there are a large number of mechanism parameters P, that is, there are 16 mechanism parameters P in this embodiment.
  • the error dL for two points which is obtained by only moving the link head 301 in the z-axis direction while the position of the link head 301 in the x-axis direction and the posture thereof around the y-axis are maintained as they are is unsuitable as the data used to identify the mechanism parameters P which will be described later.
  • the mechanism parameters P are identified by using the k errors dL thus obtained and the actuator coordinates (the position command values issued to the sliders 361, 362, 364 and 365, respectively) U. How to identify the mechanism parameters P will be described hereinafter.
  • x 1 - ( ab - X 1 ) - ab - X 1 ) 2 - ( a 2 + 1 ) c a 2 + 1
  • J* (J T J) -1 J T .
  • Step S 5 in FIG.15 the last mechanism parameters are replaced with the mechanism parameters after correction thus obtained as the new ones P (Step S 5 in FIG.15), and the calibration work is completed.
  • the actuator coordinates are arithmetically operated in accordance with the command values for the position and posture of the link head 301 using the mechanism parameters P after correction thus obtained.
  • the calibration for the mechanism parameters P can be carried out in the manner as described above. Since the works, for attaching and detaching the measuring instrument and the measurement jig, which have been conventionally required become unnecessary in this calibration work, the calibration can be carried out at arbitrary timing. That is to say, the calibration is carried out not only in the phase of shipment of the machine tool, but also right after start of the startup of the machine tool and after worming of the machine tool, which results in that the worming operation for the machine tool can be made unnecessary. In addition, the calibration work is performed periodically, which makes it possible to cope with the errors of the mechanism parameters P caused by the abrasion of the mechanism elements due the long term change.
  • a parallel mechanism (300) adapted to control at least one of pivotal movement and linear movement of a link head (301) having three degrees of freedom.
  • the parallel mechanism includes four actuators for driving the link head (301), and link groups (350, 351) which include four links (350A, 350B; 351A, 351B ) connected to the four actuators, respectively, and each of which is connected to the link head (301).
  • a rotation joint (355) interposed between each of the link groups (350, 351) and the link head (301) is made a linear joint (353) which is connected to the link head (301) so as to be relatively movable in one axis direction with respect to the link head ( 301 ).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
EP06124739A 2005-11-24 2006-11-24 Mécanisme à cinématique parallèle, méthode de calibration et machine-outil utilisant un tel mécanisme Expired - Fee Related EP1790440B1 (fr)

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JP2005339462A JP4882352B2 (ja) 2005-11-24 2005-11-24 パラレルメカニズム及びこれを備えた工作機械
JP2005340666A JP4626499B2 (ja) 2005-11-25 2005-11-25 パラレルメカニズム及びそのキャリブレーション方法

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DE102007010580A1 (de) * 2007-03-05 2008-09-11 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur Bewegung einer Arbeitsplattform einer Bearbeitungsmaschine sowie Verfahren zur Steuerung einer Bewegungsbahn dieser Arbeitsplattform
CN100586666C (zh) * 2008-03-28 2010-02-03 北京工业大学 一种四自由度并联机构
CN102303187A (zh) * 2011-08-16 2012-01-04 江苏扬力数控机床有限公司 一种三维五轴数控激光切割机
CN102941571A (zh) * 2012-12-08 2013-02-27 无锡智航控制技术有限公司 低空间双杆导向式三自由度运动平台
CN103308337A (zh) * 2013-05-31 2013-09-18 北京航空航天大学 一种基于平面二直线力机构的机床加载装置及加载试验方法
CN103308338A (zh) * 2013-05-31 2013-09-18 北京航空航天大学 一种基于三自由度并联机构的机床加载装置及加载试验方法
GB2514775A (en) * 2013-06-03 2014-12-10 Tannlin Technology Ltd Precision two-dimensional actuator
EP3628439A1 (fr) * 2018-09-28 2020-04-01 Brouwer, Dominik Machine-outil
EP3711913A4 (fr) * 2017-11-14 2021-07-28 Metronics Technologies S.L Machine de découpe d'aliments au moyen d'un jet d'eau sous pression
CN113211417A (zh) * 2021-06-04 2021-08-06 燕山大学 一种三平移并联机构
US20220214008A1 (en) * 2019-01-07 2022-07-07 Corephotonics Ltd. Rotation mechanism with sliding joint

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KR101591938B1 (ko) * 2015-01-19 2016-02-04 숭실대학교산학협력단 듀얼 스테이지 구조를 갖는 3-d 프린터
US10814478B2 (en) * 2017-12-15 2020-10-27 National Cheng Kung University Joint module and multi-joint modular robot arm
CN113714914B (zh) * 2021-09-01 2022-05-31 江苏和昌重工科技有限公司 一种锻造加工用锻件表面氧化皮清除系统及其清除工艺
CN114536307A (zh) * 2022-03-10 2022-05-27 黑龙江咕咕鸽科技有限公司 一种三自由度并联机械臂装置

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DE102007010580B4 (de) * 2007-03-05 2017-07-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur Bewegung einer Arbeitsplattform einer Bearbeitungsmaschine sowie Verfahren zur Steuerung einer Bewegungsbahn dieser Arbeitsplattform
CN100586666C (zh) * 2008-03-28 2010-02-03 北京工业大学 一种四自由度并联机构
CN102303187A (zh) * 2011-08-16 2012-01-04 江苏扬力数控机床有限公司 一种三维五轴数控激光切割机
CN102303187B (zh) * 2011-08-16 2013-09-25 江苏扬力数控机床有限公司 一种三维五轴数控激光切割机
CN102941571B (zh) * 2012-12-08 2015-04-15 无锡智航控制技术有限公司 低空间双杆导向式三自由度运动平台
CN102941571A (zh) * 2012-12-08 2013-02-27 无锡智航控制技术有限公司 低空间双杆导向式三自由度运动平台
CN103308337A (zh) * 2013-05-31 2013-09-18 北京航空航天大学 一种基于平面二直线力机构的机床加载装置及加载试验方法
CN103308338A (zh) * 2013-05-31 2013-09-18 北京航空航天大学 一种基于三自由度并联机构的机床加载装置及加载试验方法
GB2514775A (en) * 2013-06-03 2014-12-10 Tannlin Technology Ltd Precision two-dimensional actuator
GB2514775B (en) * 2013-06-03 2020-09-09 Tannlin Tech Limited Precision two-dimensional actuator
EP3711913A4 (fr) * 2017-11-14 2021-07-28 Metronics Technologies S.L Machine de découpe d'aliments au moyen d'un jet d'eau sous pression
EP3628439A1 (fr) * 2018-09-28 2020-04-01 Brouwer, Dominik Machine-outil
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US20220214008A1 (en) * 2019-01-07 2022-07-07 Corephotonics Ltd. Rotation mechanism with sliding joint
US12025260B2 (en) * 2019-01-07 2024-07-02 Corephotonics Ltd. Rotation mechanism with sliding joint
CN113211417A (zh) * 2021-06-04 2021-08-06 燕山大学 一种三平移并联机构

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EP1790440B1 (fr) 2008-07-30
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US20070295139A1 (en) 2007-12-27

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